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<div class="title">hsv_color_coherence.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_IMPL_HSV_COLOR_COHERENCE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_TRACKING_IMPL_HSV_COLOR_COHERENCE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#if defined __GNUC__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#  pragma GCC system_header </span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/hsv_color_coherence.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// utility</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="unionpcl_1_1tracking_1_1_r_g_b_value.html">   54</a></span>&#160;    <span class="keyword">typedef</span> <span class="keyword">union</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">struct </span><span class="comment">/*anonymous*/</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> Blue; <span class="comment">// Blue channel</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> Green; <span class="comment">// Green channel</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> Red; <span class="comment">// Red channel</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      };</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordtype">float</span> float_value;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordtype">int</span> int_value;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    } <a class="code" href="unionpcl_1_1tracking_1_1_r_g_b_value.html">RGBValue</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    RGB2HSV (<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> g, <span class="keywordtype">int</span> b, <span class="keywordtype">float</span>&amp; fh, <span class="keywordtype">float</span>&amp; fs, <span class="keywordtype">float</span>&amp; fv)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="comment">// mostly copied from opencv-svn/modules/imgproc/src/color.cpp</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// revision is 4351</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> hsv_shift = 12;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> div_table[] = </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
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<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        13056, 12895, 12738, 12584, 12434, 12288, 12145, 12006,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        11869, 11736, 11605, 11478, 11353, 11231, 11111, 10995,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        10880, 10768, 10658, 10550, 10445, 10341, 10240, 10141,</div>
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<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        9326, 9243, 9162, 9082, 9004, 8927, 8852, 8777,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        8704, 8632, 8561, 8492, 8423, 8356, 8290, 8224,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        8160, 8097, 8034, 7973, 7913, 7853, 7795, 7737,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        7680, 7624, 7569, 7514, 7461, 7408, 7355, 7304,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        7253, 7203, 7154, 7105, 7057, 7010, 6963, 6917,</div>
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<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        4212, 4195, 4178, 4161, 4145, 4128, 4112, 4096</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      };</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">int</span> hr = 180, hscale = 15;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">int</span> h, s, v = b;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">int</span> vmin = b, diff;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">int</span> vr, vg;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                    </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      v = std::max&lt;int&gt; (v, g);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      v = std::max&lt;int&gt; (v, r);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      vmin = std::min&lt;int&gt; (vmin, g);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      vmin = std::min&lt;int&gt; (vmin, r);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      diff = v - vmin;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      vr = v == r ? -1 : 0;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      vg = v == g ? -1 : 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                    </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      s = diff * div_table[v] &gt;&gt; hsv_shift;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      h = (vr &amp; (g - b)) +</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          (~vr &amp; ((vg &amp; (b - r + 2 * diff))</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          + ((~vg) &amp; (r - g + 4 * diff))));</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      h = (h * div_table[diff] * hscale +</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          (1 &lt;&lt; (hsv_shift + 6))) &gt;&gt; (7 + hsv_shift);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      h += h &lt; 0 ? hr : 0;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      fh = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (h) / 180.0f;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      fs = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (s) / 255.0f;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      fv = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (v) / 255.0f;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;   </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_h_s_v_color_coherence.html#aa3144d7fabca8fbe6b696c8456d14e7a">  145</a></span>&#160;    <a class="code" href="classpcl_1_1tracking_1_1_h_s_v_color_coherence.html#aa3144d7fabca8fbe6b696c8456d14e7a">HSVColorCoherence&lt;PointInT&gt;::computeCoherence</a> (PointInT &amp;source, PointInT &amp;target)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="comment">// convert color space from RGB to HSV</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="unionpcl_1_1tracking_1_1_r_g_b_value.html">RGBValue</a> source_rgb, target_rgb;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      source_rgb.int_value = source.rgba;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      target_rgb.int_value = target.rgba;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">float</span> source_h, source_s, source_v, target_h, target_s, target_v;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      RGB2HSV (source_rgb.Red, source_rgb.Blue, source_rgb.Green,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;               source_h, source_s, source_v);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      RGB2HSV (target_rgb.Red, target_rgb.Blue, target_rgb.Green,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;               target_h, target_s, target_v);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="comment">// hue value is in 0 ~ 2pi, but circulated.</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> _h_diff = fabsf (source_h - target_h);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="comment">// Also need to compute distance other way around circle - but need to check which is closer to 0</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">float</span> _h_diff2;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span> (source_h &lt; target_h)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        _h_diff2 = fabsf (1.0f + source_h - target_h); <span class="comment">//Add 2pi to source, subtract target</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        _h_diff2 = fabsf (1.0f + target_h - source_h); <span class="comment">//Add 2pi to target, subtract source</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">float</span> h_diff;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">//Now we need to choose the smaller distance</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">if</span> (_h_diff &lt; _h_diff2)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        h_diff = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (h_weight_) * _h_diff * _h_diff;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        h_diff = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (h_weight_) * _h_diff2 * _h_diff2;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> s_diff = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (s_weight_) * (source_s - target_s) * (source_s - target_s);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> v_diff = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (v_weight_) * (source_v - target_v) * (source_v - target_v);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> diff2 = h_diff + s_diff + v_diff;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordflow">return</span> (1.0 / (1.0 + weight_ * diff2));</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_HSVColorCoherence(T) template class PCL_EXPORTS pcl::tracking::HSVColorCoherence&lt;T&gt;;</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_h_s_v_color_coherence_html_aa3144d7fabca8fbe6b696c8456d14e7a"><div class="ttname"><a href="classpcl_1_1tracking_1_1_h_s_v_color_coherence.html#aa3144d7fabca8fbe6b696c8456d14e7a">pcl::tracking::HSVColorCoherence::computeCoherence</a></div><div class="ttdeci">double computeCoherence(PointInT &amp;source, PointInT &amp;target)</div><div class="ttdoc">return the color coherence between the two points.</div><div class="ttdef"><b>Definition:</b> hsv_color_coherence.hpp:145</div></div>
<div class="ttc" id="aunionpcl_1_1tracking_1_1_r_g_b_value_html"><div class="ttname"><a href="unionpcl_1_1tracking_1_1_r_g_b_value.html">pcl::tracking::RGBValue</a></div><div class="ttdef"><b>Definition:</b> hsv_color_coherence.hpp:55</div></div>
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